Cyberiada-GraphML-1.0 orientation formal CGML_META standardVersion/ 1.0 name/ orientation transitionOrder/ transitionFirst eventPropagation/ block orientation entry/ turn entry/ orientation.start_motor(AXIS_Z) exit/ orientation.stop_motor(AXIS_Z) slow_down entry/ reduce_speed() start_turn entry/ calculate_turn() initial finish_turn entry/ complete_turn() idle entry/ wait entry/ maintain entry/ orientation.start_motor(AXIS_Z) exit/ orientation.stop_motor(AXIS_Z) correct_cw entry/ orientation.set_motor_moment(AXIS_Z, -M) correct_ccw entry/ orientation.set_motor_moment(AXIS_Z, M) initial static entry/ initial initial informal Init scripts: test3sm_constants.py test3sm_orient.py STOP/ TANGENT(target_a)/ update_turn_parameters(target_a, 0.0) BACK(target_a)/ update_turn_parameters(target_a, 180.0) [completed()]/ [completed()]/ TIME_TICK [orientation_completed()]/ DISPATCH(cpu, 'ORIENTED') DISPATCH(navigation, 'ORIENTED') [orientation.get_angular_velocity(AXIS_Z) < DW]/ [orientation.get_angular_velocity(AXIS_Z) > DW]/ [completed()]/ [is_target_dw()]/ [not is_target_dw()]/